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<div  id='write'  class = 'is-node'><h3><a name='header-n223' class='md-header-anchor '></a>SensorSDK使用说明书</h3><h4><a name='header-n225' class='md-header-anchor '></a>1. 概述</h4><p>SensorSDK是<a href='../../EwayOS.html'>EwayOS</a>的Sensor部分的编程接口SDK，主要包含<a href='../../emake%20user%20manual.html'>emake</a>、文档、<a href='../Example/SensorExample.html'>example</a>部分。 </p><h4><a name='header-n228' class='md-header-anchor '></a>2. Sensor结构介绍</h4><p>Sensor是EwayOS中的感知层，Sensor接受HighLevelAI连接，开启机器人感知功能，根据机器人的传感器获取的数据运行算法进行运算，将计算结果通过HighLevelAI中转发送至Function，由Function进行处理。Sensor框架主要机制如下：</p><h5><a name='header-n231' class='md-header-anchor '></a>(1) Element机制</h5><p>Sensor将多个算法拆分成为多个Element，每一个Element负责处理一部分运算。每一个Element由多个输入引脚（InputPin）、多个输出引脚（OutputPin）及消息输出（FeatureCode）组成。一个Element至少拥有InputPin、OutPinPin及FeatureCode其中任意的一个。</p><p>InputPin负责接收输入数据，OutPinPin负责讲计算结果输出至下级Element。Feature负责生成发送至Function的消息数据。</p><p>每一个InputPin及OutPinPin均有个子的名称。Sensor框架在加载Element时根据每个Pin的名称自主进行拼接，拼接时一个InputPin只能连接一个OutPutPin，一个OutPutPin可连接多个InputPin。对应的Pin连接成功后，OutputPin输出的数据会立刻被InputPin收到。</p><p>Element定义Pin及Feature使用宏定义的方式。</p><h5><a name='header-n240' class='md-header-anchor '></a><em>Example：</em></h5><pre class="md-fences md-end-block" lang="c++" style="break-inside: unset;"> <div class="CodeMirror cm-s-inner CodeMirror-wrap"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 4px; left: 4px;"></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 30px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><pre><span>xxxxxxxxxx</span></pre></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Element_ID</span>(<span class="cm-string">"2f1f7297-438d-4674-a8b4-a9982d521134"</span>) <span class="cm-comment">//定义Element ID，使用GUID，各Element不可重复</span></span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Feature_Code</span>(<span class="cm-number">51</span>) <span class="cm-comment">//定义输出Feature 51,（具体宏定义请参见FuncSDK）</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Feature_None</span> <span class="cm-comment">//定义此Element无Feature输出</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text="">​</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Input_Pin_Start</span> <span class="cm-comment">//InputPin定义开始</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-def">Declare_Input_Pin</span>(<span class="cm-number">1</span>,<span class="cm-string">"Example Element Input 1"</span>,<span class="cm-atom">false</span>,<span class="cm-variable">EwayOS::CvMatBridge</span>) <span class="cm-comment">//定义1号输入引脚，1为InputPin ID（同一Element下的InputPin ID不可重复），Example Element Input 1为此InputPin 的名称，框架拼接Element的Pin完全根据Pin的名称，相同即为可连，名称大小写敏感。false说明此引脚不是必须引脚，最后声明此引脚输入的数据类名，（数据类必须继承CEwayData）。</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Pin_End</span> <span class="cm-comment">//InputPin定义结束</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text="">​</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Output_Pin_Start</span> <span class="cm-comment">//OutputPin定义开始</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-def">Declare_Output_Pin</span>(<span class="cm-number">1</span>,<span class="cm-string">"Example Element Output 1"</span>,<span class="cm-variable">EwayOS::CvMatBridge</span>) <span class="cm-comment">//定义1号输出引脚，1为OutputPin ID（同一Element下的OutputPin ID不可重复），Example Element Output 1为此Output Pin 的名称，最后声明此引脚输出的数据类名。</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Pin_End</span> <span class="cm-comment">//OutputPin定义结束</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text="">​</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_Feedback_Start</span> <span class="cm-comment">//保留功能</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">Declare_FeedBack_End</span> <span class="cm-comment">//保留功能</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text="">​</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-def">Declare_Element_Implement</span>(<span class="cm-variable">CExampleElement</span>) <span class="cm-comment">//框架代码</span></span></pre></div></div></div></div></div><div style="position: absolute; height: 30px; width: 1px; border-bottom: 0px solid transparent; top: 514px;"></div><div class="CodeMirror-gutters" style="display: none; height: 544px;"></div></div></div></pre><p>&nbsp;</p><p>以上代码定义了一个Element，其拥有一个输入Pin，名称为Example Element Input 1，输入数据为<a href='DataBridge/CVMatBridge.html'>EwayOS::CvMatBridge</a>；一个输出Pin，名称为Example Element Output 1，输出数据为<a href='DataBridge/CVMatBridge.html'>EwayOS::CvMatBridge</a>。一个Feature，Code为51，对应<a href='../FuncSDK/Messages/CMarkerMessage.html'>CMarkerMessage</a></p><h5><a name='header-n246' class='md-header-anchor '></a>(2) Element连接机制</h5><p>Sensor框架运行后，根据-t参数传入的文件名遍历此文件夹下的所有可用Element。当Sensor收到<a href='../FuncSDK/FuncInterface/RequestFeature.html'>ActiveFeature</a>指令后检测本地是否存在拥有此FeatureCode的Element，若存在则开始连接流程。连接时以一个Element开始，遍历其所有InputPin，根据名称查找本地或网络内是否存在与其名称相同的OutputPin，若存在则加载该Element并将此InputPin及OutputPin进行连接。之后继续遍历，直至所有激活的Element的InputPin均配对成功，则该Feature激活成功。</p><p>对于不必须InputPin，连接是框架会检测此引脚对应的输出引脚是否已激活，若已激活，则将此对引脚连接，若未激活，则不进行连接。</p><p>若待连接的Element不在本机，框架会自动使用TCP/IP远程调用Element，传输数据。</p><h5><a name='header-n253' class='md-header-anchor '></a>(3) 数据传输机制</h5><p>Sensor框架运行自带智能指针功能，当Element调用OutPutData时，框架会自动将数据复制装入数据仓库，并将智能指针使用回调机制传输至连接的InputPin，对应Element的<a href='SensorInterface/ProcInputData.html'>ProcInputData</a>接口会被自动调用，Element使用GetDataFromPinData获取数据对象指针。（注意，所有Element获得的输入均为同一数据实体，更改其中内容会同时影响所有输入数据。）</p><p>所有通过Sensor Pin传递的数据均应继承自<a href='../../OS/CEwayData.html'>CEwayData</a>基类，框架用DataBridge对多种数据进行了封装。</p><p>PinData中数据中dOrigDataStamp为原始数据生成时的时间戳，此时间戳被框架使用作为帧数据同步的依据，在Element间传递时请勿修改。</p><p>当一个PinData在跨机传输过程中，框架会自动调用Serilize接口对数据进行序列化，之后传输到接收PC之后调用Deserilize函数反序列化，之后在依据本机PinData传递机制继续传递。</p><h5><a name='header-n262' class='md-header-anchor '></a>(4) 自定义Message</h5><p>SensorSDK为<a href='../FuncSDK/Messages/%E8%87%AA%E5%AE%9A%E4%B9%89Message%E7%A4%BA%E4%BE%8B.html'>自定义Message</a>提供一种临时解决方案。用户可以根据需求自定义Feature和Message，自定义的Message必须继承CBaseMessage类，并实现其中的Serilize，Deserilize，opreator ＝，clear和copy函数, 详情请参看<a href='../FuncSDK/Messages/%E8%87%AA%E5%AE%9A%E4%B9%89Message%E7%A4%BA%E4%BE%8B.html'>自定义Message示例</a>。在EwayOS中Sensor产生的数据最终会流入到Function模块中，如果想在Function中接收sensor中自定义的Message需要在Function中注册这个Message，两个模块引用相同的自定义Message头文件，详请请参阅FunctionSDK中的<a href='../FuncSDK/Messages/%E8%87%AA%E5%AE%9A%E4%B9%89Message%E7%A4%BA%E4%BE%8B.html'>自定义Message</a>。</p><p>在自定义的Message的编写过程中存在bug会引起程序崩溃，所以这种方式要求用户有较高的编码和调试能力，EwayOS会在近期提供一种更高效安全的方式来解决这个问题。</p><h5><a name='header-n267' class='md-header-anchor '></a>(5) 输入端口绑定机制</h5><p>对于某些Element，仅有某一输入输入引脚数据无法进行处理，必须多个引脚同一帧数据到齐才可进行处理（如引脚1输入图像数据，引脚2输入深度数据），为此Sensor框架提供绑定机制（binder）。Element中可调用<a href='SensorInterface/BindInputPinForNotify.html'>BindInputPinForNotify</a>函数讲某几个InputPin绑定在一起。让某一引脚数据到达后，框架不调用<a href='SensorInterface/ProcInputData.html'>ProcInputData</a>通知Element进行处理，而是暂存入数据仓库等待。当在Binder内的所有引脚同一帧数据都到达后，系统调用<a href='SensorInterface/ProcInputData.html'>ProcInputData</a>接口一次性将此帧所有数据发送给Element。</p><p>若不使用ProcInputData回调机制，Element调用<a href='SensorInterface/CreatePinWaiter.html'>CreatePinWaiter</a>创建一个异步Binder，之后在线程内调用<a href='SensorInterface/WaitPinGetInput.html'>WaitPinGetInput</a>函数等待数据到达。若使用等待机制，则在waiter内的数据到达后框架不会调用ProcInputData通知Element处理。</p><h5><a name='header-n272' class='md-header-anchor '></a>(6) 错误处理机制</h5><p>Element在运行过程中发声错误时可调用<a href='SensorInterface/PostElemErrorMsg.html'>PostErrorMessage</a>方法，该方法会向框架发送一个错误信息，框架会在全网内广播。若某一Feature数据经过此Element，则框架会自动调用Deactive Feature方法，关闭此Feature，受影响的连接均会被断开。</p><p>若Element分布在不同PC上，当某一PC连接出现错误时（进程退出或网络连接断开），受影响连接会发送连接错误消息至框架，框架会自动断开此连接；当某一个Element所有输出连接均被断开后，此Element被判定为无效Element，其所有输入连接将被断开，Element实体将被销毁。同时此连接影响到的Feature会被Deactive。Function可收到Feature Deactived消息。</p><h5><a name='header-n277' class='md-header-anchor '></a>(7) ProInputData线程说明</h5><p>在下级Element不生成线程的情况下，它的<a href='SensorInterface/ProcInputData.html'>ProInputData </a>用的是上一级Element的线程。但是当发生跨机传输时，等待远程输入的Element的ProInputData是由IPC线程调入的。</p><h4><a name='header-n280' class='md-header-anchor '></a>3. 编程接口说明</h4><h5><a name='header-n281' class='md-header-anchor '></a>(1) <a href='SensorInterface/Initialize.html'>Initialize</a></h5><p>模块初始化函数，此函数会在所有函数调用前调用。</p><h5><a name='header-n284' class='md-header-anchor '></a>(2) <a href='SensorInterface/Destory.html'>Destroy</a></h5><p>模块销毁函数，此函数会在销毁前最后一个调用。 </p><h5><a name='header-n287' class='md-header-anchor '></a>(3) <a href='SensorInterface/ProcFeatureEnabled.html'>ProcFeatureEnabled</a></h5><p>此函数仅在声明了FeatureCode的Element调用，此函数用于通知Element此Feature被Active或被Deactive </p><h5><a name='header-n290' class='md-header-anchor '></a>(4) <a href='SensorInterface/ProcPinDisabled.html'>ProcPinDisabled</a></h5><p>此函数用于通知Element输出（入）Pin已无其他Pin连接。 </p><h5><a name='header-n293' class='md-header-anchor '></a>(5) <a href='SensorInterface/ProcPinEnabled.html'>ProcPinEnabled</a></h5><p>此函数用于通知Element输出（入）Pin被其他Pin连接。</p><h5><a name='header-n296' class='md-header-anchor '></a>(6) <a href='SensorInterface/ProcInputData.html'>ProcInputData</a></h5><p>此函数用于通知Element输入Pin收到了上级Element的数据。</p><h5><a name='header-n299' class='md-header-anchor '></a>(7) <a href='SensorInterface/ProcFeedbackData.html'>ProcFeedbackData</a></h5><p>保留接口，目前未使用</p><h5><a name='header-n302' class='md-header-anchor '></a>(8) <a href='SensorInterface/OpenConfigFile.html'>OpenConfigFile</a></h5><p>打开配置文件。每一Element对应独立的一个配置文件，默认存放在与Element动态库文件同级目录。</p><h5><a name='header-n305' class='md-header-anchor '></a>(9) <a href='SensorInterface/ReadParam.html'>ReadParam</a></h5><p>从配置文件中读取某项配置参数。</p><h5><a name='header-n308' class='md-header-anchor '></a>(10) <a href='SensorInterface/WriteParam.html'>WriteParam</a></h5><p>向配置文件中写入某项参数。若配置文件或该项参数不存在，系统会自动生成该文件或配置项。</p><h5><a name='header-n311' class='md-header-anchor '></a>(11) <a href='SensorInterface/CloseConfigFile.html'>CloseConfigFile</a></h5><p>关闭配置文件</p><h5><a name='header-n314' class='md-header-anchor '></a>(12) <a href='SensorInterface/SendVoiceMessage.html'>SendVoiceMessage</a></h5><p>向Function发送语音识别结果，此Element应拥有SysComID_  Feature</p><h5><a name='header-n317' class='md-header-anchor '></a>(13) <a href='SensorInterface/SendMarkerMessage.html'>SendMarkerMessage</a></h5><p>向Function发送Marker识别结果。</p><h5><a name='header-n320' class='md-header-anchor '></a>(14) <a href='SensorInterface/SendObjectMessage.html'>SendObjectMessage</a></h5><p>向Function发送物体识别结果。</p><h5><a name='header-n323' class='md-header-anchor '></a>(15) <a href='SensorInterface/SendFaceMessage.html'>SendFaceMessage</a></h5><p>向Function发送人脸（人形识别结果）。</p><h5><a name='header-n326' class='md-header-anchor '></a>(16) <a href='SensorInterface/OutputData.html'>OutputData</a></h5><p>由某一输出引脚输出数据，此函数调用会引发连接Element的ProcInputData调用。</p><h5><a name='header-n329' class='md-header-anchor '></a>(17) <a href='SensorInterface/BindInputPinForNotify.html'>BindInputPinForNotify</a></h5><p>绑定输入Pin，同步输入数据。</p><h5><a name='header-n332' class='md-header-anchor '></a>(18) <a href='SensorInterface/UnbindPin.html'>UnbindPin</a></h5><p>从Binder中删除某一InputPin</p><h5><a name='header-n335' class='md-header-anchor '></a>(19) <a href='SensorInterface/CreatePinWaiter.html'>CreatePinWaiter</a></h5><p>新建一个异步Binder</p><h5><a name='header-n338' class='md-header-anchor '></a>(20) <a href='SensorInterface/DeletePinFromWaiter.html'>DeletePinFromWaiter</a></h5><p>同一个异步Binder中删除一个InputPin</p><h5><a name='header-n341' class='md-header-anchor '></a>(21) <a href='SensorInterface/WaitPinGetInput.html'>WaitPinGetInput</a></h5><p>等待输入数据</p><h5><a name='header-n344' class='md-header-anchor '></a>(22) <a href='SensorInterface/PostElemErrorMsg.html'>PostElemErrorMsg</a></h5><p>向框架发送Element错误消息</p><h4><a name='header-n347' class='md-header-anchor '></a>4. 数据转换接口</h4><p>SensorSDK中为通用数据提供EwayData接口的封装，接口列表如下：</p><ol start='' ><li><a href='DataBridge/BaseType2DVector.html'><strong>BaseType2DVector</strong></a></li></ol><p>为c++2 std::vector&lt;T&gt;封装的模板类，其中容器中的元素为除指针之外的基础类型或包含除指针外的基础类型的结构体或数组。</p><ol start='2' ><li><a href='DataBridge/BaseTypeFor2DSTLContainer.html'><strong>BaseTypeFor2DSTLContainer</strong></a></li></ol><p>为c++2维STL容器封装的模板类，其中容器中的元素为除指针之外的基础类型或包含除指针外的基础类型的结构体或数组。</p><ol start='3' ><li><a href='DataBridge/BaseTypeForSTLContainer.html'><strong>BaseTypeForSTLContainer</strong></a></li></ol><p>为c++ STL容器封装的模板类，其中容器中的元素为除指针之外的基础类型或包含除指针外的基础类型的结构体或数组。</p><ol start='4' ><li><a href='DataBridge/CVMatBridge.html'><strong>CVMatBridge</strong></a></li></ol><p>为cv::Mat封装的类。</p><ol start='5' ><li><a href='DataBridge/CvRetBridge.html'><strong>CvRetBridge</strong></a></li></ol><p>为cv::Rect封装的类。</p><ol start='6' ><li><a href='DataBridge/EwayData2DVector.html'><strong>EwayData2DVector</strong></a></li></ol><p>为c++ 嵌套STL容器封装的模板类，其中容器中的元素为<a href='../OS/CEwayData.html'>CEwayData</a>的子类。</p><ol start='7' ><li><a href='DataBridge/EwayDataFor2DSTLContainer.html'><strong>EwayDataFor2DSTLContainer</strong></a></li></ol><p>为c++ 嵌套STL容器封装的模板类，其中容器中的元素为<a href='../OS/CEwayData.html'>CEwayData</a>的子类</p><ol start='8' ><li><a href='DataBridge/EwayDataForBaseType.html'><strong>EwayDataForBaseType</strong></a></li></ol><p>为c++中的除指针之外的基础类型或包含除指针外的基础类型的结构体或数组封装的模板类。</p><ol start='9' ><li><a href='DataBridge/EwayDataForContinuousMemory.html'><strong>EwayDataForContinuousMemory</strong></a></li></ol><p>为c++中连续数组数据封装的模板类。</p><ol start='10' ><li><a href='DataBridge/EwayDataForSTLContainer.html'><strong>EwayDataForSTLContainer</strong></a></li></ol><p>为c++ STL容器封装的模板类，其中容器中的元素为<a href='../OS/CEwayData.html'>CEwayData</a>的子类。</p><ol start='11' ><li><a href='DataBridge/CSeetaFaceInfoBridge.html'><strong>SeetaFaceInfoBridge</strong></a></li></ol><p>为seeta::FaceInfo封装的类。</p><ol start='12' ><li><a href='DataBridge/CSeetaImageDataBridge.html'><strong>SeetaImageDataBridge</strong></a></li></ol><p>为seeta::ImageData封装的类。</p><h4><a name='header-n422' class='md-header-anchor '></a>5.os常用element</h4><h5><a name='header-n423' class='md-header-anchor '></a>1.<a href='ElemDoc/Camera.html'>Camera</a></h5><h5><a name='header-n424' class='md-header-anchor '></a>2.<a href='ElemDoc/FaceAligner.html'>FaceAligner</a></h5><h5><a name='header-n425' class='md-header-anchor '></a>3.<a href='ElemDoc/FaceDetection.html'>FaceDetection</a></h5><h5><a name='header-n426' class='md-header-anchor '></a>4.<a href='ElemDoc/FaceRecoClassifier.html'>FaceRecoClassifier</a></h5><h5><a name='header-n427' class='md-header-anchor '></a>5.<a href='ElemDoc/FaceRecoSeeta.html'>FaceRecoSeeta</a></h5><h5><a name='header-n428' class='md-header-anchor '></a>6.<a href='ElemDoc/marker.html'>marker</a></h5><h5><a name='header-n429' class='md-header-anchor '></a>7.<a href='ElemDoc/ObjReco.html'>ObjReco</a></h5><h5><a name='header-n430' class='md-header-anchor '></a>8.<a href='ElemDoc/ObjRecoLevel1.html'>ObjRecoLevel1</a></h5><h5><a name='header-n431' class='md-header-anchor '></a>9.<a href='ElemDoc/ObjRecoLevel3.html'>ObjRecoLevel3</a></h5><h5><a name='header-n432' class='md-header-anchor '></a>10.<a href='ElemDoc/RobotInfo.html'>RobotInfo</a></h5><h4><a name='header-n433' class='md-header-anchor '></a><em>6.example</em></h4><p>SensorSDK中包含SourceElement、MiddleElement和FeatureElement 3个<a href='../Example/SensorExample.html'>SensorExample</a>部分。分别通过源码的形式向开发者展示Sensor中的Element机制、Element连接机制、数据传输机制及输入端口绑定机制。</p><p><a href='Example/SourceElement.html'>SourceElement</a>展示Element机制，数据传输机制。</p><p><a href='Example/MiddleElement.html'>MiddleElement</a>展示输入端口绑定机制（BindInputPinForNotify处理）。</p><p><a href='Example/FeatureElement.html'>FeatureElement </a>展示输入端口绑定机制（CreatePinWaiter处理）。</p><p>&nbsp;</p><p>&nbsp;</p></div>
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